remove PhysXClient.*, it was not needed (use PhysicsDirect instead)

examples/SharedMemory/PhysicsClientSharedMemory2.h

@@ -1,5 +1,5 @@
-#ifndef PHYSICS_CLIENT_SHARED_MEMORY2_H
+#ifndef PHYSICS_CLIENT_SHARED_MEMORY3_H
-#define PHYSICS_CLIENT_SHARED_MEMORY2_H
+#define PHYSICS_CLIENT_SHARED_MEMORY3_H
 
 #include "PhysicsDirect.h"
 
@@ -14,4 +14,4 @@ public:
 	void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
 };
 
-#endif  //PHYSICS_CLIENT_SHARED_MEMORY2_H
+#endif  //PHYSICS_CLIENT_SHARED_MEMORY3_H

examples/SharedMemory/physx/PhysXC_API.cpp

@@ -1,13 +1,14 @@
 #ifdef BT_ENABLE_PHYSX
 #include "PhysXC_API.h"
+#include "../PhysicsDirect.h"
 #include "PhysXServerCommandProcessor.h"
-#include "PhysXClient.h"
+
 
 B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX()
 {
 	PhysXServerCommandProcessor* sdk = new PhysXServerCommandProcessor;
 
-	PhysXClient* direct = new PhysXClient(sdk, true);
+	PhysicsDirect* direct = new PhysicsDirect(sdk, true);
 	bool connected;
 	connected = direct->connect();
 	return (b3PhysicsClientHandle)direct;

examples/SharedMemory/physx/PhysXClient.h

@@ -1,135 +0,0 @@
-#ifndef PHYSX_CLIENT_H
-#define PHYSX_CLIENT_H
-
-#include "../PhysicsClient.h"
-
-///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands
-class PhysXClient : public PhysicsClient
-{
-protected:
-	struct PhysXDirectInternalData* m_data;
-
-	bool processDebugLines(const struct SharedMemoryCommand& orgCommand);
-
-	bool processCamera(const struct SharedMemoryCommand& orgCommand);
-
-	bool processContactPointData(const struct SharedMemoryCommand& orgCommand);
-
-	bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand);
-
-	bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand);
-
-	void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
-
-	void processAddUserData(const struct SharedMemoryStatus& serverCmd);
-
-	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
-
-	void resetData();
-
-	void removeCachedBody(int bodyUniqueId);
-
-public:
-	PhysXClient(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
-
-	virtual ~PhysXClient();
-
-	// return true if connection succesfull, can also check 'isConnected'
-	//it is OK to pass a null pointer for the gui helper
-	virtual bool connect();
-
-	////todo: rename to 'disconnect'
-	virtual void disconnectSharedMemory();
-
-	virtual bool isConnected() const;
-
-	// return non-null if there is a status, nullptr otherwise
-	virtual const SharedMemoryStatus* processServerStatus();
-
-	virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
-
-	virtual bool canSubmitCommand() const;
-
-	virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
-
-	virtual int getNumBodies() const;
-
-	virtual int getBodyUniqueId(int serialIndex) const;
-
-	virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
-
-	virtual int getNumJoints(int bodyIndex) const;
-
-	virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
-
-	virtual int getNumUserConstraints() const;
-
-	virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
-
-	virtual int getUserConstraintId(int serialIndex) const;
-
-	///todo: move this out of the
-	virtual void setSharedMemoryKey(int key);
-
-	void uploadBulletFileToSharedMemory(const char* data, int len);
-
-	virtual void uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays);
-
-	virtual int getNumDebugLines() const;
-
-	virtual const float* getDebugLinesFrom() const;
-	virtual const float* getDebugLinesTo() const;
-	virtual const float* getDebugLinesColor() const;
-
-	virtual void getCachedCameraImage(b3CameraImageData* cameraData);
-
-	virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData);
-
-	virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects);
-
-	virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo);
-
-	virtual void getCachedCollisionShapeInformation(struct b3CollisionShapeInformation* collisionShapesInfo);
-
-	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
-
-	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
-
-	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
-
-	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
-
-	virtual void getCachedMassMatrix(int dofCountCheck, double* massMatrix);
-
-	//the following APIs are for internal use for visualization:
-	virtual bool connect(struct GUIHelperInterface* guiHelper);
-	virtual void renderScene();
-	virtual void debugDraw(int debugDrawMode);
-
-	virtual void setTimeOut(double timeOutInSeconds);
-	virtual double getTimeOut() const;
-
-	virtual bool getCachedUserData(int userDataId, struct b3UserDataValue& valueOut) const
-	{
-		return false;
-	}
-	virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key) const
-	{
-		return -1;
-	}
-	virtual int getNumUserData(int bodyUniqueId) const
-	{
-		return 0;
-	}
-	virtual void getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
-	{
-		*keyOut = 0;
-		*userDataIdOut = -1;
-		return;
-	}
-
-	virtual void pushProfileTiming(const char* timingName);
-	virtual void popProfileTiming();
-};
-
-#endif  //PHYSX_CLIENT_H

examples/pybullet/premake4.lua

@@ -223,12 +223,10 @@ if not _OPTIONS["no-enet"] then
 				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp",
 				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h",
 				"../../examples/SharedMemory/physx/PhysXC_API.cpp",
-				"../../examples/SharedMemory/physx/PhysXClient.cpp",
 				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp",
 				"../../examples/SharedMemory/physx/PhysXUrdfImporter.cpp",
 				"../../examples/SharedMemory/physx/URDF2PhysX.cpp",
 				"../../examples/SharedMemory/physx/PhysXC_API.h",
-				"../../examples/SharedMemory/physx/PhysXClient.h",
 				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.h",
 				"../../examples/SharedMemory/physx/PhysXUrdfImporter.h",
 				"../../examples/SharedMemory/physx/URDF2PhysX.h",

setup.py

@@ -142,7 +142,6 @@ else:
 
 sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/physx/PhysXC_API.cpp"]\
-+["examples/SharedMemory/physx/PhysXClient.cpp"]\
 +["examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp"]\
 +["examples/SharedMemory/physx/PhysXUrdfImporter.cpp"]\
 +["examples/SharedMemory/physx/URDF2PhysX.cpp"]\